PROBLEM TO BE SOLVED: To appropriately determine the existence of smoke in a pickup image.SOLUTION: A article recognition apparatus (1) includes: obtainment means (21) for obtaining plural images (P) picked up with a stereo camera (10); segment extraction means (22) for calculating a parallax from the plural images and extracting, as a segment (S), a group in which a parallax is within a given range for a given width in a horizontal direction of an image; article extraction means (23) for extracting, as a target (Tg), segments that inter-link in the horizontal and depth directions of the image; calculation means (24) for calculating a variation amount (σu ) of upper end positions of each segment and a variation amount (σh) of heights of each segment, the segments constituting a target; and determination means (25) for determining that the target is smoke in a case where at least either of the variation amount of the upper end positions and the variation amount of the heights exceeds a given threshold.SELECTED DRAWING: Figure 1
【課題】撮像画像中の煙の存在を好適に判定する。【解決手段】物体認識装置(1)は、ステレオカメラ(10)で撮像された複数の画像(P)を取得する取得手段(21)と、複数の画像から視差を算出し、画像横方向の一定幅毎に視差が所定範囲内となる集合をセグメント(S)として抽出するセグメント抽出手段(22)と、画像横方向及び画像奥行方向に連結しているセグメントを物標(Tg)として抽出する物標抽出手段(23)と、物標を構成する各セグメントの上端位置のばらつき量(σu)及び高さ幅のばらつき量(σh)を算出する算出手段(24)と、上端位置のばらつき量及び高さ幅のばらつき量の少なくとも一方が所定の閾値を超えている場合に、物標は煙であると判定する判定手段(25)とを備える。【選択図】図1
ARTICLE RECOGNITION APPARATUS AND SMOKE DETERMINATION METHOD
物体認識装置及び煙判定方法
2017-04-06
Patent
Electronic Resource
Japanese
IPC: | G06V / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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